CN103092193B - Leg legged type robot integrated hydraulic servo-driver Testing Platform - Google Patents
Leg legged type robot integrated hydraulic servo-driver Testing Platform Download PDFInfo
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- CN103092193B CN103092193B CN201310039753.9A CN201310039753A CN103092193B CN 103092193 B CN103092193 B CN 103092193B CN 201310039753 A CN201310039753 A CN 201310039753A CN 103092193 B CN103092193 B CN 103092193B
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- journal stirrup
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Abstract
The invention discloses a kind of leg legged type robot integrated hydraulic servo-driver Testing Platform, comprise test board base for supporting, test board base for supporting one end is provided with test board side journal stirrup protruding straight up, test board base for supporting top is installed with the line slideway and magnetostrictive displacement sensor that be arranged in parallel, line slideway one end abuts against on journal stirrup side, test board side, on line slideway, card has and somely along the slide block of its movement, slide block can be fixed with mass.This platform is used for the frequency response of the integrated hydraulic servo-driver that test set-up completes, speeds control performance, dynamic force control performance and dynamic position control performance, platform structure is simple, compact, easy to use, the very fast dynamic performance parameter obtaining integrated hydraulic driver.
Description
Technical field
The present invention relates to a kind of integrated hydraulic servo unit performance test apparatus, especially a kind of leg legged type robot integrated hydraulic servo-driver Testing Platform.
Background technology
At present, the immense success of BigDog causes very big sensation in international robot circle, the multiple countries comprising China propose relevant technical plan fast, have started the research boom that high performance hydraulic drives bio-robot, and have developed multiple stage robot model machine.Foot formula mobile robot has and adapts to complicated landform, motion flexibly and the huge advantage of the aspect such as obstacle climbing ability is strong, and the military affairs under non-structure environment-civilian matter transportation, ground observation and the field such as exploration, the rescue disaster relief have broad application prospects.But high performance hydraulic drives any parts of legged type robot, the defect of any unit all likely to cause serious problem, need assembling, integrated before strict test is carried out to the performance of critical component, essential elements, quality.Traditional transducer calibration is static demarcating, according to the demarcation report that businessman provides, can only obtain the static parameter of displacement transducer and force snesor.At present also not for the platform of the legged type robot Hydraulic servo drive device performance test of having assembled.Along with the fast development of progressively maturation and the robot building industry of hydraulic-driven legged type robot technology, at present in the urgent need to a kind of platform of the legged type robot Hydraulic servo drive device performance test for having assembled, meet the particular/special requirement of robot to fluid pressure drive device high-speed response characteristic.
Chinese patent application CN102841602A discloses a kind of robot list leg assembly and controls exploitation Testing Platform and method, and this platform comprises gate-type three coordinate machine mechanical arm assembly, robot leg connection bracket, Stewart platform, six-dimension force sensor, robot list leg assembly, five dimension force plate/platforms; The integrated servo controller of described Stewart platform interior, displacement transducer; Stewart platform is inverted and is arranged on the base of robot leg support, ground centered by below robot list leg assembly is installed five dimension force plate/platforms, robot leg connection bracket is fixed on the Z-direction movable supporting frame assembly of gate-type three coordinate machine mechanical arm assembly by robot leg connection bracket.This single leg assembly control exploitation Testing Platform be mainly used in the bionical gait of legged type robot generate in single leg motion and quick gait control, and the exploitation of the multiple control strategy such as robot load distribution, control distributions, single leg strength FEEDBACK CONTROL, " discrete gait+continuous force control " pose stabilization control and research.The prerequisite that control strategy can be applied to robot system is that Hydraulic servo drive device can run well, and kinetic characteristic is known, but this test platform itself can not be used for the performance test of leg legged type robot integrated hydraulic servo-driver.
Chinese patent application CN102840959A discloses a kind of Single-leg impact control experiment platform for robot, and it comprises an integrated manipulator, robot leg lifting gear, testing table support, static loading device, six-dimension force sensor, a Five-dimension force force-measuring platform; Described testing table support comprises testing table bracket base and testing table bracket upright post; Wherein, described integrated manipulator is fixed on testing table bracket base, described robot leg lifting gear is fixed on testing table support, described static loading device is fixed on robot leg lifting gear, described six-dimension force sensor is arranged between lifting gear and robot trunk, and described five dimension force plate/platforms are fixed on the ground below six-dimension force sensor.This single leg impulsive control experiment table, be applicable to leg legged type robot large impact power effect in short-term place an order leg structural stability test, Hydraulic System Reliability test, different constant load place an order leg bounce motion dynamic response characteristic test, the exploitation of the multiple control strategies such as single leg strength FEEDBACK CONTROL and research.The prerequisite of the dynamic response characteristic test of robot list leg bounce motion is that the dynamic property of robot integrated hydraulic servo-driver is known, but this test platform itself can not measure the dynamic property of leg legged type robot integrated hydraulic servo-driver, and at present also not for the platform of the legged type robot Hydraulic servo drive device performance test of having assembled.
Chinese patent application CN102830699A discloses a kind of robot single joint hydraulic pressure and position control experiment porch, and it comprises pole bracket, the first Hydraulic servo drive unit, torque motor and supporting controller, angular displacement sensor support, angular displacement sensor, swing unit, some sleeves; The base of pole bracket fixes on the ground, angular displacement sensor support, torque motor and supporting controller are fixed on the cantilever end of pole bracket, angular displacement sensor to be fixed on angular displacement sensor support and to be connected with torque motor output shaft, swing unit and sleeve are connected on the output shaft of torque motor, first Hydraulic servo drive unit one end is connected with pole bracket journal stirrup, and the other end is connected with swing unit.This robot single joint hydraulic pressure and position control experiment porch are applicable to exploitation and the test of joint of robot control method, can the change of the articulation inertia of dummy robot's motion arm not under coordination shape.These all require that Hydraulic servo drive device runs well, and kinetic characteristic is known.And this experiment porch itself can not measure the performance of leg legged type robot integrated hydraulic servo-driver.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of leg legged type robot integrated hydraulic servo-driver Testing Platform is provided, this platform is used for the frequency response of the integrated hydraulic servo-driver that test set-up completes, speeds control performance, dynamic force control performance and dynamic position control performance, platform structure is simple, compact, easy to use, the very fast dynamic performance parameter obtaining integrated hydraulic driver.
For achieving the above object, the present invention adopts following technical proposals:
A kind of leg legged type robot integrated hydraulic servo-driver Testing Platform, comprise test board base for supporting, test board base for supporting one end is provided with test board side journal stirrup protruding straight up, test board base for supporting top is installed with the line slideway and magnetostrictive displacement sensor that be arranged in parallel, line slideway one end abuts against on journal stirrup side, test board side, on line slideway, card has and somely along the slide block of its movement, slide block can be fixed with mass.
Described test board side journal stirrup has the first draw-in groove, and the first draw-in groove both sides are provided with through hole.
The end face of described line slideway is I shape.
Described slide block is provided with two, and the upper surface of each slide block is plane, which is provided with some threaded holes.
Described mass is provided with some holes corresponding with the threaded hole on slide block.
One end of described mass is provided with the first journal stirrup, and mass lower surface side is provided with second journal stirrup that can be enclosed within the expansion link of magnetostrictive displacement sensor.
Described first journal stirrup is provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole.
During use, test board of the present invention is supported bottom surface and is directly fixed on flatly on seat, or be fixed on workplace and plane-parallel or on angled worktable (angle theta of worktable and surface level is known).Line slideway is fixed on test board base for supporting.The fixed part of high-precision magnetostrictive displacement sensor is parallel with line slideway, is fixed on test board base for supporting, and the moveable part of high-precision magnetostrictive displacement sensor is connected with mass second journal stirrup.Mass is fixed on two supporting slide blocks of line slideway, the quality of slide block and the friction factor change curve between slide block and line slideway known.The oil cylinder of integrated hydraulic servo-driver is connected with the side journal stirrup of test board, and piston rod is connected with mass first journal stirrup.Integrated hydraulic servo-driver comprises, a piston rod, a force snesor, a linear movement pick-up, an electrohydraulic servo valve, a hydraulic cylinder.It is existing mechanism, repeats no more.
Magnetostrictive displacement sensor is the accurate location calculating magnetic field joining the time that is detected of strain-pulse signal produced when utilizing two different magnetic fields to intersect.The pulse excitation that magnetic field produces from the electronic unit in sensor electronic storehouse, caudad advance from electronics storehouse end with the light velocity with the waveguide filament that high-magnetostriction material is made in the magnetic field that this driving pulse produces in sensor measuring staff, when crossing with the permanent-magnetic field (this permanent magnet is generally arranged on to be needed to detect on the dynamic plate of position) of activity, due to magneto-striction phenomenon, waveguide filament produces a mechanical strain pulse in joining, and from then on put through waveguide filament to the passback of electronics storehouse end with the velocity of sound, this strain-pulse is detected by the testing circuit in electronics storehouse.Therefore, from transmitting one active pulsating wave to receiving a strain-pulse ripple, time between this is exactly velocity of sound time of transmitting in waveguide filament (have ignored the time that initiatively ripple runs herein, actual influence only has 0.0001%), the known velocity of sound (fixed amount is 3000m/s) and passing time, this distance just determines certainly.When permanent magnet moves to new position, redefine above-mentioned measurement.Therefore, the advantages such as magnetostrictive displacement sensor has high precision, high response, low sluggishness, high reliability, noncontact, the life-span is long, stability is high, easy for installation, need not demarcate again, need not periodic maintenance, and the field that is thus accurately measured extensively adopts.
The present invention uses magnetostrictive high precision displacement transducer with the displacement of high sample frequency measurement quality block, demarcates the linear movement pick-up of integrated hydraulic servo-driver; According to the change in displacement information that magnetostrictive high precision displacement transducer exports, calculated mass block speed, acceleration, calculate the dynamic performance parameter obtaining integrated hydraulic driver.
Integrated hydraulic servo-driver carries out displacement tracking closed loop under the control of servo-control system, power closed loop moving.Extract magnetostrictive high precision displacement transducer, the linear movement pick-up of integrated hydraulic servo-driver, force snesor information, can the frequency individual features of testing hydraulic servo-driver, speed control characteristic, dynamic force control characteristic and position control characteristic.
Beneficial effect of the present invention:
(1) the integrated hydraulic servo-driver test platform architecture of the present invention's proposition is simple, advantage compact, easy to use.
(2) the present invention uses magnetostrictive high precision displacement transducer, demarcate the linear movement pick-up of integrated hydraulic servo-driver, and according to the change in displacement information that the displacement transducer of magnetostrictive high precision exports, the speed of calculated mass block, acceleration, calculate the dynamic performance parameter obtaining integrated hydraulic driver.
Accompanying drawing explanation
Fig. 1 integrated Hydraulic servo drive device Testing Platform schematic diagram;
Fig. 2 integrated Hydraulic servo drive device test board body schematic diagram;
Fig. 3 is mass schematic diagram;
Fig. 4 integrated Hydraulic servo drive device schematic diagram.
In figure: 1. mass, 2. integrated hydraulic servo-driver, 3. test board body, 4. line slideway, 5. slide block, 6. test board side journal stirrup, 7. test board base for supporting, 8. magnetostrictive displacement sensor, 9. mass first journal stirrup, 10. mass second journal stirrup, 11. threaded holes, 12. force snesor, 13. piston rods, 14. linear movement pick-ups, 15. electrohydraulic servo valves, 16. hydraulic cylinders.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 1, legged type robot Hydraulic servo drive device Testing Platform comprises, mass 1, integrated hydraulic driver element 2, test board body 3 of a known quality.As shown in Figure 2, a test board body 3 comprises, a line slideway 4, two slide blocks 5, test board base for supporting 7, test board side journal stirrup 6, high precision magnetostrictive displacement sensor 8.Test board base for supporting 7 one end is provided with test board side journal stirrup 6 protruding straight up, test board base for supporting 7 top is installed with the line slideway 4 and magnetostrictive displacement sensor 8 that be arranged in parallel, line slideway 4 one end abuts against on journal stirrup 6 side, test board side, on line slideway 4, card has and somely along the slide block 5 of its movement, slide block 5 can be fixed with mass 1.Test board side journal stirrup 6 has the first draw-in groove, and the first draw-in groove both sides are provided with through hole.The end face of line slideway 4 is I shape.The upper surface of each slide block 5 is plane, which is provided with some threaded holes.
As shown in Figure 3, mass 1 comprises the first journal stirrup 9, second journal stirrup 10, eight threaded holes 11 corresponding with the threaded hole on slide block.One end of mass 1 is provided with the first journal stirrup 9, mass 1 lower surface side be provided with can be enclosed within magnetostrictive displacement sensor 8 expansion link on the second journal stirrup 10.On first journal stirrup, 8 are provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole.
As shown in Figure 4, integrated hydraulic servo-driver 2 comprises, a piston rod 13, force snesor 12, linear movement pick-up 14, electrohydraulic servo valve 15, hydraulic cylinder 16.It is existing mechanism, does not repeat them here.
During application, test board base for supporting 7 is directly fixed on level ground, or be fixed on workplace and plane-parallel or on angled worktable (angle theta of worktable and surface level is known).Line slideway 4 is fixed on test board base for supporting 7.The fixed part of high-precision magnetostrictive displacement sensor 8 is parallel with line slideway 4, is fixed on test board base for supporting 7, and the moveable part of high-precision magnetostrictive displacement sensor 8 is connected 10 with mass second journal stirrup.Mass 1 to be fixed on two supporting slide blocks of line slideway 5, the quality of slide block 5 and the friction factor change curve between slide block 5 and line slideway 4 known.The oil cylinder 16 of integrated hydraulic servo-driver 2 is connected with test board side journal stirrup 6, and piston rod 13 is connected with mass first journal stirrup 9.
The present invention uses magnetostrictive high precision displacement transducer 8 with the displacement of high sample frequency measurement quality block 1, demarcates the linear movement pick-up 14 of integrated hydraulic servo-driver; According to the change in displacement information that magnetostrictive high precision displacement transducer 8 exports, calculated mass block 1 speed, acceleration, calculate the dynamic performance parameter obtaining integrated hydraulic driver 2.
Integrated hydraulic servo-driver 2 carries out displacement tracking closed loop under the control of servo-control system, power closed loop moving.Extract magnetostrictive high precision displacement transducer 8, the linear movement pick-up 14 of integrated hydraulic servo-driver, force snesor information 13, can the frequency individual features of testing hydraulic servo-driver 2, speed control characteristic, dynamic force control characteristic and position control characteristic.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (1)
1. a leg legged type robot integrated hydraulic servo-driver Testing Platform, it is characterized in that, comprise test board base for supporting, test board supports bottom surface and is directly fixed on horizontal base, or be fixed on the worktable of workplace and plane-parallel, test board base for supporting one end is provided with test board side journal stirrup protruding straight up, test board base for supporting top is installed with the line slideway and magnetostrictive displacement sensor that be arranged in parallel, line slideway one end abuts against on journal stirrup side, test board side, on line slideway card have some can along the slide block of its movement, slide block is fixed with mass, one end of described mass is provided with the first journal stirrup, and mass lower surface side is provided with second journal stirrup that can be enclosed within the expansion link of magnetostrictive displacement sensor, described first journal stirrup is provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole,
Described test board side journal stirrup has the first draw-in groove, and the first draw-in groove both sides are provided with through hole;
Described slide block is provided with two, and the upper surface of each slide block is plane, which is provided with some threaded holes;
The end face of described line slideway is I shape;
Described mass is provided with some holes corresponding with the threaded hole on slide block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310039753.9A CN103092193B (en) | 2013-02-01 | 2013-02-01 | Leg legged type robot integrated hydraulic servo-driver Testing Platform |
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| CN201310039753.9A CN103092193B (en) | 2013-02-01 | 2013-02-01 | Leg legged type robot integrated hydraulic servo-driver Testing Platform |
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| CN103092193B true CN103092193B (en) | 2015-11-18 |
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| CN105652896B (en) * | 2015-12-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of turntable for legged type robot exercise testing |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830699A (en) * | 2012-09-21 | 2012-12-19 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN203054594U (en) * | 2013-02-01 | 2013-07-10 | 山东交通学院 | Legged type robot integrated hydraulic servo driver performance test platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000271887A (en) * | 1999-03-23 | 2000-10-03 | Toshiba Corp | Robot ground test apparatus |
| JP4980947B2 (en) * | 2008-02-19 | 2012-07-18 | 株式会社Ｉｈｉ | Control system and control method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830699A (en) * | 2012-09-21 | 2012-12-19 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN203054594U (en) * | 2013-02-01 | 2013-07-10 | 山东交通学院 | Legged type robot integrated hydraulic servo driver performance test platform |
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